And planning a driving sequence of the mobile robot and other equipment. In one aspect, a method includes receiving an instruction for moving a device along a support surface. The apparatus includes at least one drive wheel and at least one caster rotatable about a substantially vertical axis. The caster is configured to be redirected during movement such that a rotary joint of the caster with the apparatus guides a wheel of the caster. The method further includes planning drive instructions of the device to implement the movement instructions based on the orientation or the expected orientation of the at least one caster at the start of the movement. The drive command is adapted to a drive wheel and a caster of the device and is configured to limit reorientation of the caster during the movement in accordance with the drive command.
规划移动机器人和其他设备的驱动序列。在一个方面,一种方法包括接收用于沿着支撑表面移动设备的指令。该设备包括至少一个驱动轮和能够围绕大致竖直的轴线旋转的至少一个脚轮。脚轮被配置为在运动期间重新定向,使得脚轮与设备的旋转接头引导脚轮的轮子。该方法还包括基于至少一个脚轮在移动开始时的定向或预期定向来规划设备的驱动指令,以实施移动指令。该驱动指令适合于设备的驱动轮和脚轮,并且被配置为根据驱动指令在运动期间限制脚轮的重新定向。
Reducing movement resistance of device comprising caster
减小包括脚轮的设备的移动阻力
15.03.2024
Patent
Elektronische Ressource
Chinesisch